add updateJointLimits method to the IK server
add updateJointLimits method to the IK server

this method is used to send updated joint limits to the matlab planning
server.  Uses RigidBodyManipulator.setJointLimits()

RobotLocomotion/director,rdeits/director,mithrandir123/director,empireryan/director,edowson/director,edowson/director,RobotLocomotion/director,empireryan/director,edowson/director,mithrandir123/director,empireryan/director,mithrandir123/director,manuelli/director,openhumanoids/director,RussTedrake/director,edowson/director,RobotLocomotion/director,RobotLocomotion/director,openhumanoids/director,rdeits/director,mitdrc/director,openhumanoids/director,RussTedrake/director,RussTedrake/director,mitdrc/director,mithrandir123/director,edowson/director,mitdrc/director,gizatt/director,gizatt/director,patmarion/director,rdeits/director,patmarion/director,RobotLocomotion/director,openhumanoids/director,patmarion/director,patmarion/director,manuelli/director,gizatt/director,patmarion/director,manuelli/director,rdeits/director,empireryan/director,mithrandir123/director,gizatt/director,manuelli/director,manuelli/director,gizatt/director,empireryan/director,RussTedrake/director,RussTedrake/director,mitdrc/director,openhumanoids/director,mitdrc/director,rdeits/director